/**
  ******************************************************************************
  * File Name          : can-ctrl.h
  * Description        : This file contains the common defines of the Extend
  ******************************************************************************
  *
  * Copyright (c) 2019 HopeMotion Co., Ltd. 
  * All rights reserved.
  *
  * Redistribution and use in source and binary forms, with or without 
  * modification, are permitted, provided that the following conditions are met:
  *
  * 1. Redistribution of source code must retain the above copyright notice, 
  *    this list of conditions and the following disclaimer.
  * 2. Redistributions in binary form must reproduce the above copyright notice,
  *    this list of conditions and the following disclaimer in the documentation
  *    and/or other materials provided with the distribution.
  * 3. Neither the name of HopeMotion nor the names of other 
  *    contributors to this software may be used to endorse or promote products 
  *    derived from this software without specific written permission.
  * 4. This software, including modifications and/or derivative works of this 
  *    software, must execute solely and exclusively on microcontroller or
  *    microprocessor devices manufactured by or for HopeMotion.
  * 5. Redistribution and use of this software other than as permitted under 
  *    this license is void and will automatically terminate your rights under 
  *    this license. 
  *
  * THIS SOFTWARE IS PROVIDED BY HOPEMOTION AND CONTRIBUTORS "AS IS" 
  * AND ANY EXPRESS, IMPLIED OR STATUTORY WARRANTIES, INCLUDING, BUT NOT 
  * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY, FITNESS FOR A 
  * PARTICULAR PURPOSE AND NON-INFRINGEMENT OF THIRD PARTY INTELLECTUAL PROPERTY
  * RIGHTS ARE DISCLAIMED TO THE FULLEST EXTENT PERMITTED BY LAW. IN NO EVENT 
  * SHALL HOPEMOTION OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
  * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
  * LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, 
  * OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF 
  * LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING 
  * NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE,
  * EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
  *
  ******************************************************************************
  */
/* Define to prevent recursive inclusion -------------------------------------*/
#ifndef __CAN_CTRL_H
#define __CAN_CTRL_H

#include <linux/can.h>

#ifdef __cplusplus
extern "C" {
#endif
	
/* Includes ------------------------------------------------------------------*/

/* Exported constants --------------------------------------------------------*/

/* Exported macro ------------------------------------------------------------*/

/* Exported types ------------------------------------------------------------*/

/* Exported functions ------------------------------------------------------- */

int can0_read(struct can_frame  *can_id );
int can0_write(unsigned int can_id, const char tx_msg[8]);

/*
 * CAN0收发数据
 * id: 目标设备地址，tx_msg：发送数据缓冲，rx_msg：接收数据缓冲
 * 返回发送状态， 0:正确发送   <0:发送异常
*/
int can0_rw(unsigned int can_id, const char tx_msg[8], char rx_msg[8]);

/*
 * CAN1收发数据
 * id: 目标设备地址，tx_msg：发送数据缓冲，rx_msg：接收数据缓冲
 * 返回发送状态， 0:正确发送   <0:发送异常
*/
int can1_rw(unsigned int can_id, const char tx_msg[8], char rx_msg[8]);

/*
 * 打开设备，返回文件描述符
*/
int can_init(void);

/*
 * 关闭设备
 * fdcan：设备文件描述符
*/
void can_deinit(void);

#ifdef __cplusplus
}
#endif



#endif // __CAN_CTRL_H
